HANDSHAKE: HANDling System for Human Autonomous KEeping

This paper presents a novel biped-wheeled-wearable machine, named HANDSHAKE, and obtained by an evolution of two robots presented in other works: one °exible-wheeled leg and one biped-°exible-wheeled robot. A critical design analysis of these two robots helped the author to propose a novel machine able to revolutionize the lower body exoskeletons' world. Conceptual and functional design, mechanical behavior (kinematics and dynamics), and multibody simulation of the biped-wheeled exoskeleton are presented in this paper, and a ¯rst reduced scale prototype is used to show the feasibility of the proposed solution. The simple control architecture used in this work underlines the enormous advantages to use the HANDSHAKE system for people with a complete absence of mobility, which are completely supported by this machine. This is possible thanks to the wheeled feet of the HANDSHAKE system which allow to support more weights respect to the classical exoskeletons, available on market and literature. The proposed machine increases stability, dynamic balance, autonomy, reducing power supply and complexity in comparison with classical exoskeleton systems because the wheeled feet are always in contact with the ground. These advantages, recognized in humanoid robots, may be used also in exoskeletons.